KR20160029163A - a hydraulic actuator - Google Patents
a hydraulic actuator Download PDFInfo
- Publication number
- KR20160029163A KR20160029163A KR1020140117401A KR20140117401A KR20160029163A KR 20160029163 A KR20160029163 A KR 20160029163A KR 1020140117401 A KR1020140117401 A KR 1020140117401A KR 20140117401 A KR20140117401 A KR 20140117401A KR 20160029163 A KR20160029163 A KR 20160029163A
- Authority
- KR
- South Korea
- Prior art keywords
- cable
- pulley
- piston
- force
- cylinder chamber
- Prior art date
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/082—Characterised by the construction of the motor unit the motor being of the slotted cylinder type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1409—Characterised by the construction of the motor unit of the straight-cylinder type with two or more independently movable working pistons
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1423—Component parts; Constructional details
- F15B15/1447—Pistons; Piston to piston rod assemblies
- F15B15/1452—Piston sealings
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
- F15B7/005—With rotary or crank input
- F15B7/006—Rotary pump input
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/04—Gearings for conveying rotary motion by endless flexible members with ropes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16J—PISTONS; CYLINDERS; SEALINGS
- F16J1/00—Pistons; Trunk pistons; Plungers
- F16J1/10—Connection to driving members
- F16J1/24—Connection to driving members designed to give the piston some rotary movement about its axis
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Actuator (AREA)
Abstract
The present invention relates to a hydraulic actuator, and more particularly to a hydraulic actuator in which a pair of hydraulic actuators are arranged upward, downward, leftward and rightward in the same direction to produce movement in both directions, and a lightweight, To reduce weight and volume, and to facilitate the design of a mechanism. A cylinder chamber in which a pair of pistons are installed so as to be positioned up and down in the same direction or left and right, ; A cable connected to each of the cylinders through the piston to move in conjunction with the operation of the piston and to easily change the direction of the force; A pulley formed on one side of the cylinder chamber and having one or more cable receiving grooves formed on an outer circumferential surface formed in a disk shape so as to convert a transmission direction of a force or generate a large force with a small force; .
Description
The present invention relates to a hydraulic actuator, and more particularly to a hydraulic actuator in which a pair of hydraulic actuators are arranged upward, downward, leftward and rightward in the same direction to produce movement in both directions, and a lightweight, To reduce weight and volume, and to facilitate the design of a mechanism.
Generally, robotic technology is applied to improve the workability and safety in the medical field, the automobile industry field, the military industry field, the mechatronics field, etc. In the medical field, for example, a surgical arm and a robot And various types of actuators using electricity, hydraulic pressure, compressed air, etc. are used for this purpose.
However, the conventional hydraulic actuator is constituted of a cylinder chamber, a piston and a rod in the form of a rod, and the pressure of the hydraulic fluid flowing into the cylinder chamber prevents the rod, which operates linearly by the force generated in proportion to the piston cross- The weight and volume of the hydraulic actuator are increased due to the manufacture of steel having a large diameter for the reason that the driving speed of the hydraulic actuator for driving the robot or the machine is lowered and the miniaturization can not be achieved.
Further, since a conventional hydraulic actuator uses a quadric link mechanism or the like for power transmission, many mechanical parts are used, the weight becomes heavy, and the number of parts where the clearance is generated is increased.
In addition, when the thread trimming link mechanism is used, the torque (physical quantity causing rotation of the object by acting on the object is also referred to as torsional moment) is not linear, the range of use is limited, There is a problem that the length of the piston and the rod becomes long to perform.
SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and it is an object of the present invention to reduce the weight and volume of an actuator by replacing a rod interlocked with an operation of a piston by a cable, And to provide a hydraulic actuator capable of smoothly changing the direction of the force.
According to an aspect of the present invention, there is provided a hydraulic actuator comprising: a reciprocating piston formed in association with movement of a fluid filled therein; A cylinder chamber provided so as to be positioned to the right; A cable connected to each of the cylinders through the piston to move in conjunction with the operation of the piston and to easily change the direction of the force; A pulley formed on one side of the cylinder chamber and having one or more cable receiving grooves formed on an outer circumferential surface formed in a disk shape so as to convert a transmission direction of a force or generate a large force with a small force; .
The cable is formed in at least one shape so as to be usable for a large force when engaged with a piston installed in a cylinder chamber.
The cable has a tension adjusting device formed at one end to smoothly adjust the tension so that slip does not occur when the cable moves (rotates) after the coupling with the pulley.
The pulleys are formed to have a large or small diameter in order to accelerate or decelerate the driving speed of the actuator.
The distance between the cylinder and the pulley is adjusted to be distant from or close to the length of the cable.
As described above, according to the present invention, the volume of the hydraulic actuator is reduced and the weight of the hydraulic actuator is reduced, thereby achieving miniaturization of the robot and the like and reducing the cost.
Further, since the torque of the pulley, which is a rotational motion part, is constant, the present invention can always provide a uniform power, so that the operation can be performed more precisely.
In addition, the present invention has the effect of making robots of various structures by designing the mechanism easily because the movement of the cable serving as a load is free and the direction of force is easy to change.
In addition, the present invention has the effect that the hydraulic actuator can generate a larger force than the same size.
1 is a schematic view illustrating a disassembly state of a hydraulic actuator according to a preferred embodiment of the present invention.
FIG. 2 is a perspective view showing the coupled state of FIG. 1. FIG.
3 is a sectional view of the main part of Fig.
FIG. 4 is a view illustrating a state in which the gripper is opened (opened) when the cable and the pulley move counterclockwise due to tension and compression of each piston and rotate when the hydraulic actuator according to the preferred embodiment of the present invention is used .
FIG. 5 is a view showing a state in which a hydraulic actuator according to a preferred embodiment of the present invention is in a state in which a cable and a pulley are moved in a clockwise direction by tension and compression of each piston, and a gripper portion is folded (closed) when rotated.
6 is a view showing a state in which a plurality of cable receiving grooves of a cable and a pulley are formed as another embodiment of the hydraulic actuator according to the present invention.
Hereinafter, preferred embodiments of the hydraulic actuator according to the present invention will be described in more detail with reference to the accompanying drawings.
Hereinafter, elements having the same function in all the following drawings will be denoted by the same reference numerals, and repetitive description will be omitted. Further, the following terms are defined in consideration of functions in the present invention, Should be interpreted as.
1 to 5, the present invention is roughly divided into a
The
It is preferable that the
As described above, since the pair of
Further, the present invention is characterized in that a pair of
As the
A seal for preventing the leakage of the
The
The
Here, the
Since the
In addition to the piano steel wire, the
In addition, since the
The
Accordingly, it is possible to more reliably prevent the leakage of the
A tension adjusting
Accordingly, the tension of the
Various constructions capable of accommodating the
The
The
More specifically, for example, when a pushing force is applied to the
At this time, the
The
Therefore, the joint mechanism portion of the robot or the
Conversely, when a pushing force is applied to the
At this time, the
The
Therefore, the joint mechanism portion of the robot connected to the
In addition, the
For example, assuming that the basic diameter of the
The
For example, when the gap between the
This makes it much easier to design the mechanism of the part driven by the actuator, such as the joint mechanism part or the
The operation of the hydraulic actuator of the present invention having the above-described construction mounted on the medical robot will now be described.
4, when one of the pair of
At this time, the fluid 113 filled in the
Accordingly, the
The
Accordingly, the
Conversely, when the
At this time, the fluid 113 filled in the
Accordingly, the
The
Therefore, the
Therefore, by performing such a precise operation, a surgical tool or the like can be attached to the
6 is a block diagram showing another embodiment of the present invention in which a plurality of
In other words, the
In addition, the
Accordingly, the
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. And will be apparent to those skilled in the art to which the invention pertains.
100: Hydraulic actuator 110: Cylinder chamber
111: Piston 112: Seal
113: fluid 120: cable
121: tension adjusting device 130: pulley
131: Cable receiving groove 140: Gripper part
Claims (5)
A cylinder chamber in which a pair of reciprocating pistons are interlocked with movement of a fluid filled in the cylinder, and the pair of cylinders are installed so as to be positioned up and down in the same direction;
A cable connected to each of the cylinders through the piston to move in conjunction with the operation of the piston and to easily change the direction of the force;
A pulley formed on one side of the cylinder chamber and having one or more cable receiving grooves formed on an outer circumferential surface formed in a disk shape so as to convert a transmission direction of a force or generate a large force with a small force; And a hydraulic actuator.
Wherein the cable is formed in at least one of a shape capable of being used for a large force when engaged with a piston installed in a cylinder chamber.
Wherein the tension adjusting device is formed at one end of the cable so as to smoothly adjust the tension so that slip does not occur when the cable is moved (rotated) after coupling with the pulley.
Wherein the pulley is formed with a large diameter or a small diameter so as to accelerate or decelerate the driving speed of the actuator.
And the distance between the cylinder and the pulley is adjusted to be distant from or close to the length of the cable.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020140117401A KR20160029163A (en) | 2014-09-04 | 2014-09-04 | a hydraulic actuator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020140117401A KR20160029163A (en) | 2014-09-04 | 2014-09-04 | a hydraulic actuator |
Publications (1)
Publication Number | Publication Date |
---|---|
KR20160029163A true KR20160029163A (en) | 2016-03-15 |
Family
ID=55541845
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020140117401A KR20160029163A (en) | 2014-09-04 | 2014-09-04 | a hydraulic actuator |
Country Status (1)
Country | Link |
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KR (1) | KR20160029163A (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101857137B1 (en) * | 2017-12-04 | 2018-05-11 | 엘아이지넥스원 주식회사 | Electro-hydraulic drive apparatus |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20110060619A (en) | 2009-11-30 | 2011-06-08 | (주)엠에프테크 | Actuator |
-
2014
- 2014-09-04 KR KR1020140117401A patent/KR20160029163A/en not_active Application Discontinuation
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20110060619A (en) | 2009-11-30 | 2011-06-08 | (주)엠에프테크 | Actuator |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101857137B1 (en) * | 2017-12-04 | 2018-05-11 | 엘아이지넥스원 주식회사 | Electro-hydraulic drive apparatus |
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A201 | Request for examination | ||
E902 | Notification of reason for refusal | ||
E601 | Decision to refuse application |